It depends on context. ex:
a: Have you been to Spain?( usually we say "Have you ever been to Spain)
b :Yeh, I went there last year
a: I waited for you for 3 hours ! Where have you been?!
b: Sorry, I was at the mall with my friends.
a : Throughout my life I've travelled to 3 countries. Where have you been?
b: I've been to Spain and France
Notice that you only use the have been tense when you are not referring to a specific time